In the simulations, unless otherwise stated, the control and prediction horizons of all controllers are \(N=20\)  respectively. The \(l_1\)  norm weight \(c_1\)  and \(l_2\)  norm weight \(c_2\)  in (REF ) for our proposed controllers were chosen as 0 and 10 respectively. We assume that all the system states are available to the controller. The proposed robust economic MPC scheme and the traditional economic MPC scheme were numerically transcribed using the direct multiple shooting method and solved using IPOPT [1]}. The optimization problems were implemented in the modeling language JuMP [2]}. Each dynamic simulation was run for 1000 time steps and the asymptotic average performance, computed thereafter.
